(pick robot4 ball5 room4 lgripper4)
(pick robot2 ball6 room1 lgripper2)
(move robot2 room1 room2)
(pick robot2 ball1 room2 rgripper2)
(drop robot2 ball6 room2 lgripper2)
(pick robot2 ball2 room2 lgripper2)
(move robot2 room2 room3)
(drop robot2 ball2 room3 lgripper2)
(pick robot2 ball4 room3 lgripper2)
(drop robot2 ball1 room3 rgripper2)
(move robot4 room4 room5)
(pick robot4 ball3 room5 rgripper4)
(move robot4 room5 room1)
(drop robot4 ball5 room1 lgripper4)
(drop robot4 ball3 room1 rgripper4)
(move robot2 room3 room2)
(drop robot2 ball4 room2 lgripper2)
; cost = 17 (unit cost)
